So the first argument refers to the leg number. We can tell from the diagram on the Hardware page that legs 2 and 5 refer to the left and right legs. Now that we know what legs to move, we tell HEXA to create a new leg position using the coordinates provided. You can find more information about how coordinates are set up on the Hardware page as well.

Next, we need to move the joints in the front two legs to a default position for stability.

So that means we are going to move legs 0 and 1, and joints 1 and 2 of those legs to 90 and 45 degrees, respectively. You can see an example of the joints and their range of motion on the Hardware page.